Drop-in ROS 2 bridge for Rerun — no ROS 2 runtime or build required.

Stream live ROS 2 topics to the Rerun viewer for real-time visualization. Supports 74 built-in ROS 2 type mappings out of the box, with extensibility for custom messages.

Features

• Zero ROS 2 dependency — pure Rust, no colcon or ament needed
• Automatic DDS and Zenoh discovery
• 74 built-in type mappings across the common ROS 2 interface packages
• Custom message support via JSON5 mappings
• Real-time diagnostics (hz, bytes/sec, drops, latency)
• Topic filtering with glob patterns

Install

See the documentation for installation instructions and usage.

Nix

This repository is a flake.

nix run github:rewire-run/rewire -- --version # try it, installs nothing
nix profile add github:rewire-run/rewire # install for the current user

On NixOS, add it as an input and pull the package into your system config:

{inputs.rewire.url="github:rewire-run/rewire";# in your nixosConfiguration modulesenvironment.systemPackages=[inputs.rewire.packages.${system}.rewire];}

An overlay is also exported, if you would rather reach it as pkgs.rewire:

nixpkgs.overlays=[inputs.rewire.overlays.default];nixpkgs.config.allowUnfree=true;

rewire is unfree. The commands and the packages output above allow it for their own nixpkgs instance and need nothing from you. The overlay puts rewire on your pkgs, so that route alone needs allowUnfree in your own configuration.

Binaries come from this repository's releases; nothing is built from source. Supported systems are listed in sources.json, which is regenerated on every release.

Related Repositories

Repository	Description
viewer	Rewire viewer based on Rerun API for bridge introspection
extras	Shared Rerun archetypes and types for the Rewire ecosystem
docker	Docker images for Rewire

Examples

Repository	Description
turtlebot3-example	TurtleBot3 simulation visualized in Rerun
camera-example	ROS 2 camera/image streaming to Rerun
custom-mappings-example	Custom message mapping with JSON5

Community

This repository hosts discussions and issues for rewire. Bug reports, feature requests, and questions are welcome.